U.S. patent number 10,744,887 [Application Number 15/509,485] was granted by the patent office on 2020-08-18 for levitation control system for a transportation system.
This patent grant is currently assigned to SKYTRAN, INC.. The grantee listed for this patent is SkyTran, Inc.. Invention is credited to John Cole, Clark B. Foster, John Lee Wamble, III.
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United States Patent |
10,744,887 |
Wamble, III , et
al. |
August 18, 2020 |
Levitation control system for a transportation system
Abstract
Transport apparatus having at least one levitation generator and
at least one drive generator. The at least one levitation generator
configured to generate a levitating magnetic flux, move within a
corresponding at least one lifting member, and elevate above a rest
position relative to the at least one lifting member in response to
the levitating magnetic flux. The at least one drive generator
configured to generate a driving magnetic flux, move within a
corresponding at least one drive member, and laterally move
relative to the at least one drive member in response to the
driving magnetic flux. At least a portion of the at least one
levitation generator is movable relative to the at least one drive
generator.
Inventors: |
Wamble, III; John Lee (Bothell,
WA), Cole; John (Dana Point, CA), Foster; Clark B.
(Mission Viejo, CA) |
Applicant: |
Name |
City |
State |
Country |
Type |
SkyTran, Inc. |
Moffett Field |
CA |
US |
|
|
Assignee: |
SKYTRAN, INC. (Irvine,
CA)
|
Family
ID: |
55459493 |
Appl.
No.: |
15/509,485 |
Filed: |
September 8, 2015 |
PCT
Filed: |
September 08, 2015 |
PCT No.: |
PCT/US2015/049019 |
371(c)(1),(2),(4) Date: |
March 07, 2017 |
PCT
Pub. No.: |
WO2016/040374 |
PCT
Pub. Date: |
March 17, 2016 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20170291503 A1 |
Oct 12, 2017 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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62047624 |
Sep 8, 2014 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E01B
25/30 (20130101); B61B 13/08 (20130101); B60L
13/10 (20130101); B60L 13/003 (20130101); B60L
13/06 (20130101); B60L 13/04 (20130101); B60L
2200/26 (20130101); B60L 13/08 (20130101) |
Current International
Class: |
B60L
13/06 (20060101); B60L 13/10 (20060101); B60L
13/00 (20060101); B60L 13/04 (20060101); B61B
13/08 (20060101); E01B 25/30 (20060101); B60L
13/08 (20060101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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201311486 |
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Mar 2013 |
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TW |
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WO 03/091132 |
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Nov 2003 |
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WO |
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WO 2007/119315 |
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Oct 2007 |
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WO |
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WO 2010/022637 |
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Mar 2010 |
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WO |
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WO 2016/040374 |
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Mar 2016 |
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WO |
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Other References
Office Action (including English Translation of list of Cited
References) dated Apr. 11, 2019, for the corresponding Taiwanese
Application No. 104129653 in 12 total pages. cited by applicant
.
Office Action (including English Translation) dated Jan. 4, 2019,
for the corresponding Chinese Application No. 201580060509.8 in 15
total pages. cited by applicant .
Extended European Search Report from the European Patent Office,
dated Apr. 9, 2018, 8 pages, for the corresponding European Patent
Application No. 15839173.0. cited by applicant .
English translation of the first Office Action from the National
Intellectual Property Administration, PRC, dated Jan. 4, 2019, 3
pages, for the corresponding Chinese Patent Application No.
201580060509.8. cited by applicant .
International Search Report and Written Opinion by the
International Searching Authority for the corresponding
International Patent Application PCT/US2015/049019, dated Dec. 17,
2015, 10 pages. cited by applicant.
|
Primary Examiner: Le; Mark T
Attorney, Agent or Firm: Polsinelli PC
Parent Case Text
CROSS REFERENCE TO RELATED APPLICATIONS
This application is a U.S. National Stage Entry of PCT Application
No. PCT/US2015/049019, filed Sep. 8, 2015, which claims the benefit
of U.S. Provisional Application No. 62/047,624 filed Sep. 8, 2014,
the contents of which are entirely incorporated by reference
herein.
Claims
What is claimed is:
1. A transport apparatus comprising: a levitation generator
configured to: generate a levitating magnetic flux; move within a
corresponding lifting member in response to the levitating magnetic
flux, wherein the corresponding lifting member is an electrically
conductive, non-magnetic material; and adjust a pitch angle between
a longitudinal axis of the levitation generator and a longitudinal
axis of the transport apparatus; and a drive generator configured
to: generate a driving magnetic flux; and move within a
corresponding drive member in response to the driving magnetic
flux.
2. The transport apparatus of claim 1, wherein the levitation
generator is coupled with a servo motor which is configured to
actuate the levitation generator about an axis perpendicular to the
longitudinal axis of the transport apparatus.
3. A levitation wing comprising: a levitation generator configured
to: couple with a transport apparatus; generate a levitating
magnetic flux; move within a corresponding lifting member in
response to the levitating magnetic flux, wherein the corresponding
lifting member is an electrically conductive, non-magnetic
material; and adjust a pitch angle between a longitudinal axis of
the levitation generator and a longitudinal axis of the transport
apparatus.
4. The levitation wing of claim 3, wherein the levitation generator
is coupled with a servo motor configured to actuate the levitation
generator about an axis perpendicular to the longitudinal axis of
the transport apparatus.
5. The transport apparatus of claim 2, wherein the servo motor is
coupled to a leading end of the levitation generator.
6. The transport apparatus of claim 2, wherein the servo motor is
coupled to a trailing end of the levitation generator.
7. The transport apparatus of claim 2, wherein the servo motor is
coupled between a leading end and a trailing end of the levitation
generator.
8. The transport apparatus of claim 1, wherein the levitation
generator is further configured to adjust a gap between the
levitation generator and the corresponding lifting member.
9. The transport apparatus of claim 1, wherein the levitation
generator is further configured to pitch an edge of the levitation
generator up toward an upper lifting member.
10. The transport apparatus of claim 1, wherein the levitation
generator is further configured to pitch an edge of the levitation
generator down toward a lower lifting member.
11. The transport apparatus of claim 1, further comprising: a
second levitation generator configured to: generate a second
levitating magnetic flux; move within a second corresponding
lifting member in response to the second levitating magnetic flux;
and adjust a second pitch angle between a second longitudinal axis
of the second levitation generator and the longitudinal axis of the
transport apparatus; and a second drive generator configured to:
generate a second driving magnetic flux; and move within a second
corresponding drive member in response to the second driving
magnetic flux.
12. The transport apparatus of claim 11, further comprising: a
first servo motor configured to actuate the levitation generator to
adjust the pitch angle; and a second servo motor configured to
actuate the second levitation generator to adjust the pitch
angle.
13. The levitation wing of claim 3, wherein the levitation
generator is further configured to pitch an edge of the levitation
generator up toward an upper lifting member.
14. The levitation wing of claim 3, wherein the levitation
generator is further configured to pitch an edge of the levitation
generator down toward a lower lifting member.
15. A method, comprising: generating a levitating magnetic flux to
move a levitation generator of a transport apparatus within a
corresponding lifting member in response to the levitating magnetic
flux, wherein the corresponding lifting member is an electrically
conductive, non-magnetic material; generating a driving magnetic
flux to move a drive generator of the transport apparatus within a
corresponding drive member; and adjusting a pitch angle between a
longitudinal axis of the levitation generator and a longitudinal
axis of the transport apparatus.
16. The method of claim 15, further comprising: actuating the
levitation generator about an axis perpendicular to the
longitudinal axis of the transport apparatus via a servo motor
coupled to the levitation generator.
17. The method of claim 15, further comprising: pitching an edge of
the levitation generator up toward an upper lifting member.
18. The method of claim 15, further comprising: pitching an edge of
the levitation generator down toward a lower lifting member.
19. The method of claim 15, further comprising: generating a second
levitating magnetic flex to move a second levitation generator of
the transport apparatus within a second corresponding lifting
member in response to the second levitating magnetic flux;
generating a second driving magnetic flux to move a drive generator
of the transport apparatus within a corresponding drive member; and
adjusting a second pitch angle between a second longitudinal axis
of the second levitation generator and the longitudinal axis of the
transport apparatus.
20. The method of claim 19, further comprising: actuating the
levitation generator to adjust the pitch angle via a first servo
motor; and actuating the second levitation generator to adjust the
pitch angle via a second servo motor.
Description
FIELD
The subject matter herein is directed to a levitation system for a
transportation system and more specifically to a levitation system
for transportation systems that can include a drive system.
BACKGROUND
Magnetic levitation systems have been designed in general as
systems that levitate through the use of attraction or repulsion
between two objects. These magnetic levitation systems are
dependent upon the spacing of the two objects such that if the
spacing of the two objects changes, the forces produced by the
magnets on each of the objects change. Furthermore, in systems that
implement magnetic levitation via a track, for example on trains,
requires that the track be substantially level. Thus, if the ground
shifts over time because of weather or weight of the train and
track, the track will have to be repaired.
Magnetic levitation can provide advantages compared to conventional
wheels on tracks. Generally, magnetic levitation has low or zero
mechanical friction and thus parts in levitation systems do not
wear from contact. Magnetic levitation has a wide range of speeds
over which it can operate, and in operation it generates relatively
low noise levels.
Magnetic levitation can be applied to traditional large train
system architecture as well as monorail or personal rapid transport
(PRT) systems. Magnetic levitation can use active or passive
magnetic interaction for levitation and centering functions, and
can use inductive or synchronous magnetic interaction for
propulsion. For example, a networked guideway transit system can
use permanent magnet coupling to provide primary lift passively
with motion, and can use electrodynamic repulsion to create
centering forces at most operational speeds while integrating
linear motor functions with electrodynamic centering functions.
See, for example, Wamble, III et al. U.S. Pat. No. 7,562,628 issued
Jul. 21, 2009, incorporated herein by reference, and Wamble, III et
al. U.S. Pat. No. 8,171,858 issued May 8, 2012, incorporated herein
by reference. A propulsion or drive unit can be either integrated
with or separate from a levitation unit.
For example, a propulsion unit separate from the levitation unit is
described in Wamble III, International Publication WO 2013/003387
A2 published 3 Jan. 3, 2013, incorporated herein by reference. A
vehicle can be levitated by one or more of the levitation units
(for example, 410 in FIGS. 2, 3, 4, 9, 10, 11A, 11B of WO
2013/003387 A2), and each levitation unit has one or more elongated
magnetic poles. When the vehicle engages a track, each elongated
magnetic pole is adjacent to a flat vertical surface of a
stationary electrically conductive rail of the track, and the
elongated magnetic pole is inclined at a variable angle. When the
elongated magnetic pole moves along the rail, the magnetic field
from the elongated magnetic pole induces eddy currents in the rail,
and the eddy currents in the rail produce lift upon the elongated
magnetic pole. Under some typical operating conditions, the lift is
generally proportional to the angle of inclination and the velocity
of the vehicle. (See paragraphs [0066] to of WO 2013/003387
A2.)
BRIEF DESCRIPTION OF THE DRAWINGS
Implementations of the present technology will now be described, by
way of example only, with reference to the attached figures,
wherein:
FIG. 1 is an isometric view of a transport apparatus including a
levitation generator and a guideway having a junction according to
an exemplary embodiment;
FIG. 2 is cross-sectional view of a specific example of a transport
apparatus including a drive member and guideway;
FIG. 3 is a cross-sectional view of an exemplary embodiment of a
levitation generator and a lifting member;
FIG. 4 is a diagrammatic view of an electromagnet array controller
of a levitation generator according to an exemplary embodiment;
FIG. 5 is a diagrammatic view of an electromagnetic levitation
generator according to an exemplary embodiment;
FIG. 6 a cross-sectional view of a second exemplary embodiment of
an electromagnetic levitation generator and a lifting member;
FIG. 7 is a diagrammatic view of a levitation generator having a
slidable axle configured to vary pitch according to an exemplary
embodiment;
FIG. 8 is diagrammatic view of a levitation generator having a
pivotable segment configured to vary pitch according to an
exemplary embodiment;
FIG. 9 is a diagrammatic view of a levitation generator pivotably
coupled to a yaw axle according to an exemplary embodiment;
FIG. 10 is a diagrammatic view of a levitation generator pivotably
coupled to a pitch axle according to an exemplary embodiment;
FIG. 11 is a diagrammatic view of a levitation generator having
pivotable trim tabs configured to adjust the yaw, thereby vary
pitch according to an exemplary embodiment;
FIG. 12 is a diagrammatic view of a levitation generator having a
pivotable trim tabs to vary pitch according to an exemplary
embodiment;
FIG. 13 is a diagrammatic view of a bendable levitation generator
coupled to an axle and a corresponding lifting member according to
an exemplary embodiment;
FIG. 14 is a diagrammatic view of a pivotable levitation generator
coupled to an axle and a corresponding lifting member according to
an exemplary embodiment;
FIG. 15 is an isometric view of an axle coupling according to an
exemplary embodiment; and
FIG. 16 is a flowchart of a method of using a transport
apparatus.
The various embodiments described above are provided by way of
illustration only and should not be construed to limit the scope of
the disclosure. Therefore, many such details are neither shown nor
described. Even though numerous characteristics and advantages of
the present technology have been set forth in the foregoing
description, together with details of the structure and function of
the present disclosure, the disclosure is illustrative only, and
changes can be made in the detail, especially in matters of shape,
size and arrangement of the parts within the principles of the
present disclosure to the full extent indicated by the broad
general meaning of the terms used in the attached claims. It will
therefore be appreciated that the embodiments described above can
be modified within the scope of the appended claims. Claim language
reciting "at least one of" a set indicates that one member of the
set or multiple members of the set satisfy the claim.
DETAILED DESCRIPTION
For simplicity and clarity of illustration, where appropriate,
reference numerals have been repeated among the different figures
to indicate corresponding or analogous elements. In addition,
numerous specific details are set forth in order to provide a
thorough understanding of the implementations described herein.
However, those of ordinary skill in the art will understand that
the implementations described herein can be practiced without these
specific details. In other instances, methods, procedures and
components have not been described in detail so as not to obscure
the related relevant feature being described. Also, the description
is not to be considered as limiting the scope of the
implementations described herein.
Several definitions that apply throughout this disclosure will now
be presented. The term "levitation" as used herein refers to the
lifting and suspension of an object relative to another object in
the absence of a mechanical contact between the objects.
"Levitation force" is a force that provides for levitation. The
levitation force can act in a vertical direction (the direction
opposite the direction of gravity), but those skilled in the art
will readily recognize that the same force can be used to move or
position two objects in a lateral direction or in some direction
with both vertical and lateral components. To generalize, the terms
"levitation" and "levitation force" as used herein refer,
respectively, to contactless positioning and a force between two
objects in a direction substantially orthogonal to the primary
direction of travel. As further used herein, "levitation magnetic
flux" and "levitation force" are interchangeable and refer to the
same element. A "levitation generator" is a device that is
configured to generate magnetic waves that interact with a lifting
member to levitate the movable object with respect to the
stationary object.
"Drive force" refers to the force required to accelerate, maintain
motion or decelerate one object with respect to another. As used
herein, "drive force" means a force substantially in line with the
primary direction of travel, effected without mechanical contact
between the two objects. As further used herein, "drive magnetic
flux" and "drive force" are interchangeable and refer to the same
element. A "drive generator" is a device that is configured to
generate magnetic waves that interact with a drive member to drive
the movable object with respect to the stationary object.
A "guideway" is a device or structure that provides for a path
along which a car, vehicle, bogie, transport apparatus can move
along. As used herein, the term guideway and track are
interchangeable and refer to the same element. A car refers to a
device which is configured for travel along the guideway. The car
can be at least partially enclosed, entirely enclosed or have a
surface upon which objects or persons can be placed. The car can be
coupled with a bogie which is in turn coupled with the guideway.
The bogie can be an integral component of the car or a separate
component to which the car can be coupled with. A bogie as used
herein does not necessarily include wheels, but instead is
configured for engagement with the guideway.
"Coupled" refers to the linking or connection of two objects. The
coupling can be direct or indirect. An indirect coupling includes
connecting two objects through one or more intermediary objects.
Coupling can also refer to electrical or mechanical connections.
Coupling can also include magnetic linking without physical
contact. "Substantially" refers to an element essentially
conforming to the particular dimension, shape or other word that
substantially modifies, such that the component need not be exact.
For example, substantially cylindrical means that the object
resembles a cylinder, but can have one or more deviations from a
true cylinder. The term "comprising" means "including, but not
necessarily limited to"; it specifically indicates open-ended
inclusion or membership in a so-described combination, group,
series and the like. A "magnetic source" is any material that
naturally produces a magnetic field or can be induced to generate a
magnetic field. For example, a magnetic source can include a
permanent magnet, an electromagnet, a superconductor, or the any
other material that produces a magnetic field or can be induced to
generate a magnetic field. The term "pitch" is defined as
increasing or decreasing the angle of attack relative to a
horizontal axis. The term "yaw" is defined as a twist or
oscillation about a vertical axis.
The various embodiments described above are provided by way of
illustration only and should not be construed to limit the scope of
the disclosure. Therefore, many such details are neither shown nor
described. Even though numerous characteristics and advantages of
the present technology have been set forth in the foregoing
description, together with details of the structure and function of
the present disclosure, the disclosure is illustrative only, and
changes can be made in the detail, especially in matters of shape,
size and arrangement of the parts within the principles of the
present disclosure to the full extent indicated by the broad
general meaning of the terms used in the attached claims. It will
therefore be appreciated that the embodiments described above can
be modified within the scope of the appended claims. Claim language
reciting "at least one of" a set indicates that one member of the
set or multiple members of the set satisfy the claim. For example,
at least one of A, B, and C, indicates the members can be just A,
just B, just C, A and B, A and C, B and C, or A, B, and C.
A guideway switch is a piece of guideway that makes possible the
splitting or merging of paths. A guideway switch is an important
and valuable technological feature for constructing guideway
networks of multiple lines of guideway. By switching a vehicle from
one line to another, passengers or freight need not be transferred
to another vehicle on the other line.
The present disclosure is directed to adjusting the orientation of
a levitation generator within a corresponding lifting member. The
orientation of the levitation generator can assist in switching of
a vehicle between alternative paths in a guideway transportation
system including segments of a track in which each track segment is
comprised of a pair of coextensive and spaced guide rails. The
orientation of the levitation generator can assist in switching
paths by adjusting the lift and/or adjusting the direction of
travel of a vehicle for maneuvers such as cornering in a guideway
transportation system. In at least one embodiment, a guideway
transportation system including segments of track in which each
track segment is comprised of a pair of coextensive and spaced
guide rails is implemented. The guide rails can be part of a
network of guide rails interconnected through junctions. The guide
rails can have a mainline that is diverges into additional guide
rails. For example, a mainline can be a central artery of the
network and have divergent rails that branch out to form the
network.
The guide rails in each segment are spaced from each other by a
constant distance and are generally coplanar in a horizontal or
inclined plane or are banked over curves in a fashion similar to
conventional railroad track. In contrast to monorail, such track is
comprised of a pair of coextensive spaced guide rails capable of
carrying heavier loads at high speeds because the weight and
inertial forces from the loads are distributed over a wider area of
the guideway. Also vehicles riding on top of co-extensive spaced
rails have some advantages in ride stability, safety with respect
to collisions with tall trucks passing under the guideway,
operation in stations where the guideway is located on a ground
plane, and walkways that can be on the ground plane and level with
the guideway.
The rails in a divergent zone can diverge vertically, which is in a
direction generally perpendicular to the plane of the track, such
that there is no crossing of rails in the divergent zone. While the
present disclosure references a divergent zone, the present
disclosure also includes a merging zone which is the opposite of
the divergent zone. The divergent zone can include the rails
diverging into an upper rail set and a lower rail set. The
direction need not be exactly perpendicular to be generally
perpendicular. For example, the track could be in the shape of a
curve and the rails can diverge in a direction that is normal to
gravity. In at least one arrangement, a mainline of the network is
in a horizontal plane over the divergent zone, and switching is
done by routing vehicles to or from vehicle paths above or below
the mainline. The lift is due to force from one or more eddy
currents magnetically induced in the rails, so that the force
generally increases with vehicle speed, and the magnets and the
rails can be designed to carry at least twice the gross mass of the
vehicle at normal operating velocity. In this case, each rail can
split so that each half of the rail diverges vertically from the
other half, and the gross mass of a vehicle passing through the
divergent zone will still be levitated by a pair of the half-rails
regardless of the selected path through the divergent zone.
A transport apparatus as described herein can include at least one
levitation generator and at least one drive generator. The at least
one levitation generator can be configured to generate a levitating
magnetic flux, move within a corresponding at least one lifting
member, and elevate above a rest position relative to the at least
one lifting member in response to the levitating magnetic flux. The
at least one drive generator can be configured to generate a
driving magnetic flux, move within a corresponding at least one
drive member, and laterally move relative to the at least one drive
member in response to the driving magnetic flux. At least a portion
of the at least one levitation generator is movable relative to the
at least one drive generator.
As described herein, the levitation generator can be configured to
lift a coupled vehicle in relation to a lifting member. The
levitation generator can include: a shaped member configured to be
magnetically coupled with the lifting member. The shaped member can
have at least one elongate magnetic pole configured to generate a
lifting flux field for intersecting at least a portion of the
lifting member. The lifting flux can be dependent upon the motion
of the at least one magnetic pole surface in a direction of travel
and the angle of the at least one magnetic pole surface relative to
the direction of travel. The at least one magnetic pole surface can
include a plurality of magnetic sources. The produced lifting flux
field can be independent of the relative position of the at least
one levitation generator relative to the corresponding at least one
lifting member. The at least one elongate magnetic pole can be
oriented at an angle relative to the direction of relative motion
of the at least one levitation generator to the at least one
lifting member, such that a lifting force component is generated in
a direction normal to the direction of relative motion. The angle
can be a predetermined angle based on a magnetic force versus
normal velocity constant K.sub.FN, the relative velocity between
the at least one levitation generator and the at least one lifting
element, and the lifting force required. The angle can be a
variable angle based on magnetic force versus normal velocity
constant K.sub.FN, the relative velocity between the at least one
levitation generator and the at least one lifting element, and the
lifting force required. The lifting force can be dependent upon a
length of the at least one elongate magnetic pole relative to a
width and a height of the elongate magnetic pole, such that the
lifting force increases as the length is greater as compared to the
width and height. The lifting force can be dependent upon the
velocity of the elongate magnetic pole relative to the at least one
lifting member, wherein a higher velocity produces greater lift.
The at least one elongate magnetic pole can include a plurality of
magnetic elements arranged in a row. The at least one elongate
magnetic pole can include two elongate magnetic poles and each of
the two elongate magnetic poles can include a plurality of magnetic
elements arranged in a row. The levitation member can include
electromagnetic magnets, permanent magnets, or a combination
thereof. The present disclosure is focused on controlling the
levitation generator so that the lift can be known and modified as
needed. The ability to know the lift can be derived from sensors or
known inputs into the system in which the levitation generator
interacts. Furthermore, various embodiments are described that
provide for altering the lift characteristics of a levitation
generator. These embodiments are described separately, but the
present disclosure contemplates that in at least one implementation
two or more of the embodiments can be combined to achieve greater
benefits. The embodiments are described separately for illustration
and discussion of the principles related to that particular
embodiment.
Additionally, a guideway is presented. The guideway can include: at
least one lifting member; at least one drive member can be coupled
to the at least one lifting member by a guideway coupling member;
the at least one lifting member can be configured to receive a
levitating magnetic flux generated by a corresponding at least one
levitation generator; and the at least one drive member can be
configured to receive a driving magnetic flux generated by a
corresponding at least one drive generator. The at least one
lifting member can include two lifting members. The at least two
lifting members can be two tracks, each track having three sides.
Each track can include a plurality of segments. The cross-section
of each of the two tracks can be substantially rectangular. The at
least one drive member can be substantially cylindrical in
shape.
FIG. 1 illustrates a transport apparatus having a guideway with a
levitation generator 106 received therein. A transport apparatus
100 can include a drive generator (not shown) and a levitation
generator 106 capable of being received within a guideway 104. The
drive generator is configured to generate a driving magnetic flux
causing lateral movement of the transport apparatus 100. The drive
generator is shown outboard of the levitation generator in FIG. 2.
The present levitation generator 106 can be implemented with a
drive generator that is either outboard or inboard of the
levitation generator 106. Additionally, the present levitation
generator 106 can be configured for substantially or at least
partially vertical configurations for example in elevators. The
principles described herein are generally presented with respect to
a generally horizontal direction of travel, but the present
technology can be applied to other directional travel.
The guideway 104 can include one or more lifting members 108. The
levitation generator 106 is configured to move within a lifting
member 108 and generate a levitating magnetic flux, elevating the
lifting member above a rest position. The levitation generator 106
and the corresponding lifting member 108 are separated by a gap 166
(See FIG. 3). In at least one embodiment, the levitation generator
106 can be a substantially rectangular shaped body coupled with the
transport apparatus 100 and configured to move within the lifting
member 108. In other embodiments, the levitation generator 106 can
be any shape configured to move within a corresponding lifting
member 108 and generate a levitating magnetic flux.
In order to understand the placement of the lifting member 108
relative to the levitation generator, FIG. 6 is provided to
illustrate the levitation generator 106 and lifting member 108 in
cross section. The levitation generator 106 can include one or more
magnetic elements 110 configured to generate the levitating
magnetic flux as the levitation generator 106 moves within the
corresponding lifting member 108. The magnetic element 110 can be
one or more magnets. In at least one embodiment, the magnetic
element 110 can be electromagnets. In other embodiments, the
magnetic element 110 can include electromagnets, permanent magnets,
or a combination thereof.
Referring again to FIG. 1, the guideway 104 includes a lifting
member 108 forming a junction 112 between two lifting members 108.
The levitation generator 106 is at least partially received within
the lifting member 108. The junction 112 includes two lifting
members 108 vertical arranged one above the other. As the transport
apparatus 100 approaches the junction 112, the levitation magnetic
flux can be increased or decreased, thereby increasing or
decreasing the elevation above the lifting member 108. The
transport apparatus 100 and levitation generator 106 can then enter
either one of the vertically arranged lifting members 108. In at
least one embodiment, the transport apparatus 100 can transition
from two or more tracks to a single track, from a single track to
more than one track, or from a plurality of tracks to a plurality
of tracks. The transport apparatus 100 can have two levitation
generators 106 disposed on opposing sides, each configured to be
received within a lifting member 108. In at least one embodiment,
the guideway 104 includes two opposing lifting members 108, each
configured to receive a levitation generator.
The guideway 104 can include a junction 112 joining two lifting
members 108, an upper lifting member 109 and a lower lifting member
111. The junction 112 can provide alternative directions of travel
for the transport apparatus. For example, the upper lifting member
109 can form a curve to the right relative the direction of travel
and the lower lifting member 111 can form a curve to the left
relative to the direction of travel. In other embodiments, the
upper lifting member 109 can curve left, curve right, continue
vertical separation, level out, or any combination thereof, and the
lower lifting member 111 can curve left, curve right, continue
vertical separation, level out, or any combination thereof.
The transport apparatus 100 can navigate the junction 112 by
varying the pitch of the levitation generator 106, thus increasing
or decreasing the necessary levitating magnetic flux. The transport
apparatus 100 can change the pitch the levitation generator 106 in
various ways as will be discussed below. Additionally, as the
transport apparatus 100 travels along a guideway 104 having a
curve, bend, or other non-straight portion, the transport apparatus
100 can adjust the yaw of the levitation generator 106. The yaw can
be adjusted separate from the pitch, and the transport apparatus
100 can adjust the yaw and pitch individually and
simultaneously.
The guideway 104 has an upper rail 116 and a lower rail 118 that
magnetically couple with upper and lower elongate magnetic elements
110 in the levitation generator 106. (See FIG. 6). In at least one
embodiment, the levitation generator 106 is referred to as a
"levitation wing" or "magwing."
The transport apparatus 100 can have a sensor wing 130. The sensor
wing 130 can have one or more vertical position sensors (VPS) 132
to determine the levitation generator's 106 position within the
guideway 104 and the corresponding lifting member 108. The data
collected by the plurality of sensors 132 allows the levitation
generator 106 to transition within the guideway 104 and junction
112. As can be appreciated in FIG. 1, the upper portion 134 with a
sensor 132 disposed on an inner surface 136 and the lower portion
138 with a sensor 132 disposed on an inner surface 139.
The one or more VPS 132 can be mounted to the levitation generator
106 leading edge, on the bogie, on the sensor wing 130, or on an
axle 128. The one or more VPS 132 can be of varied type, such as
Hall Effect, proximity, optical, ultrasonic, field effect and other
edge/position sensors commonly used in machinery automation. In at
least one embodiment, the one or more VPS 132 can engage with
and/or interact with to upper edge sensor 124 and/or the lower edge
sensor 126.
The axle 128 can couple the levitation generator 106 with the
transport apparatus 100. The axle 128 can have one or more servo
motors 162 coupled therewith to slide or rotate the axle 128
relative to the transport apparatus 100. In at least one
embodiment, the one or more servo motors 162 rotates the axle 128
about the longitudinal axis of the axle 128, thereby rotating the
levitation generator 106. In other embodiments, the one or more
servo motors 162 can slide the axle 128 along the longitudinal axis
of the transport apparatus 100 relative to the levitation generator
106. In yet other embodiments, the one or more servo motors 162 can
actuate the levitation generator 106 in any direction relative to
the axle 128 and the transport apparatus 100, such as pitch, yaw,
and/or roll.
FIG. 2 illustrates a specific example of a transport apparatus 100
and guideway 104. The transport apparatus 100 can include includes
a vehicle 101 and disposed between two parallel-spaced horizontal
rails of the guideway 104. The vehicle 101 can be configured to
transport passengers, freight, or a combination thereof. The width
of the vehicle 101 is less than the spacing between the rails to
provide sufficient clearance between the cabin and the rails of an
upper lifting member 109 (See FIG. 1) of a vertically divergent
junction 112 (See FIG. 1). Levitation generators 106 are disposed
within the rails and mounted to the vehicle 101. The levitation
generator 106 can be passive permanent magnets or electromagnets,
or they can include actively switched electromagnets.
As can be appreciated in FIG. 2, the transport apparatus 100
include a drive generator 102 configured to generator a drive
magnetic flux. The drive generator 102 can be disposed on an outer
edge of the vehicle and receivable within a drive member 103
disposed on the outer portion of each rail.
FIG. 3 illustrates a cross-section of a levitation generator within
a lifting member in accordance with the present disclosure. FIG. 3
illustrates the bottom edge 120 of the upper rail 116 has an upper
edge sensor 124 configured to detect proximity of the sensor wing
130 and the levitation generator as the transport apparatus 100
approaches the junction. Similarly, the top edge 122 of the lower
rail 118 has a lower edge sensor 126 configured to detect proximity
of the sensor wing 130 and the levitation generator 106 as the
transport apparatus 100 approaches the junction. The upper edge
sensor 124 and the lower edge sensor 126 can be of varied type,
such as Hall Effect, proximity, optical, ultrasonic, field effect
and other edge/position sensors commonly used in machinery
automation. The upper edge sensor 124 and the lower edge sensor 126
provide data regarding the direction of travel 114, the levitation
generator and the lifting member 108 as the transport apparatus 100
transitions through the junction 112.
In at least one embodiment, the upper edge sensor 124 and the lower
edge sensor 126 provide data to the transport apparatus 100
regarding proximity to adjust pitch of the levitation generator
106. The transport apparatus 100 can include a processor,
microprocessor, or other control mechanism to adjust the levitation
generator pitch in response to data from the sensor wing, the upper
edge sensor 124 and/or lower edge sensor 126 data. The data can be
implemented with an electromagnet controller described below (shown
in FIG. 4). In other embodiments, the upper edge sensor 124 and the
lower edge sensor 126 indicate the direction of travel 114 for the
transport apparatus 100 as it transitions the junction 112. The
upper edge sensor 124 and lower edge sensor 126 turn on and off to
direct the transport apparatus 100 to the appropriate upper lifting
member 109 or lower lifting member 111 (shown in FIG. 1).
The lifting member 108 has a substantially rectangular
cross-section and the levitation generator 106 has a similarly
shaped, but at least slightly smaller substantially rectangular
cross-section configured to move within the lifting member 108. The
levitation generator 106 generates the levitating magnetic flux as
it moves within the lifting member 108 along the direction of
travel 114. The sensor wing 130 is positioned ahead of the
levitation generator 106. In at least one embodiment, the transport
apparatus has a sensor wing 130 positioned forward and aft of the
levitation generator 106.
FIG. 4 illustrates an electromagnet array controller and a
levitation generator according to an exemplary embodiment. The
electromagnet array controller 142 can selectively respond to input
from either the upper or lower VPS 132. The controller output is
current directed to sets of electromagnet coils 146 in the
levitation generator 106 to increase the magnetic coupling with the
lifting member 108.
Since the electromagnet 140 can be positioned at a leading end or
trailing end of the levitation generator 106, the effect of passing
current through them has multiple effects. One effect is
augmentation of the direct levitation by increasing the effective
length of the levitation generator 106. The charging of the
electromagnet elements 140 increases the length of the permanent
magnetic pole that is coupling with the rail. The effect of
energizing all the electromagnet elements 140 in a levitation
generator 106 is rapid and linear change in the levitation
flux.
The pitch moment balance of the levitation generator 106 can also
be altered by the energizing of the electromagnet elements 140.
Energizing the electromagnet elements 140 at the leading end of the
levitation generator 106 causes increased pitch (incline).
Energizing the electromagnet elements 140 at the trailing end of
the levitation generator 106 results in decreased pitch (decline).
Similarly, energizing the electromagnet elements 140 at the leading
end of the levitation generator 106 can cause decreased pitch
(decline) and energizing the electromagnet elements 140 at the
trailing end of the levitation generator 106 results in increased
pitch (incline).
As can be appreciated in FIG. 4, the levitation generator 106 has
four electromagnetic elements 140, each electromagnetic element 140
having six electromagnetic coils 146. The electromagnet array
controller 142 energizes the appropriate electromagnetic element
140 and the corresponding electromagnetic coils 146 in response to
feedback from the plurality of sensors 132. The electromagnet
elements 140 at the leading edge of the levitation generator 106
are indicated as E and F while the electromagnet elements 140 at
the trailing edge of the levitation generator 106 are indicated as
C and D. In at least one embodiment, the elongate magnetic pole is
disposed between the leading edge elements E, F and trailing edge
elements C, D.
In other embodiments, the levitation generator 106 can have more or
less electromagnetic elements, and each electromagnetic element 140
can have more or less electromagnetic coils 146 within each
electromagnetic element 140. The number of electromagnetic elements
140 and electromagnetic coils 146 can vary depending on factors
such as, but not limited to, the size of the levitation generator
106, electromagnetic coils 146, material selection available
power.
FIG. 5 illustrates a diagrammatic view of a lifting member with
permanent magnet elements and electromagnet elements. The sidewall
of the guideway 104 and the levitation generator 106 are not shown
to better illustrate the construction of the levitation generator
106. The magnetic elements 110 of the levitation generator 106 can
be divided into a forward portion 148 and an aft portion 150. Each
portion can have a permanent magnet zone 152 and an electromagnet
zone 154. The levitation generator can pitch about the axle 128 in
response to an imbalanced energizing of electromagnet zone.
Energizing the electromagnetic zone 154 of the forward portion 148
increases the pitch (incline) of the levitation generator 106 and
energizing the electromagnetic zone 154 of the aft portion 150
decreases the pitch (decline) of the levitation generator 106.
The levitation generator 106 can have a permanent magnet zone 152
and an electromagnet zone 154 can be implemented with the
electromagnet array controller 142 shown and described in FIG. 4
above. The permanent magnet zone 152 can generate the necessary
levitating magnetic flux while the electromagnet zone 154 can
provide pitch adjustment as the levitation generator 106 travels
within the corresponding lifting member 108.
FIG. 6 illustrates a cross-section view of a levitation generator.
The electromagnet zone 154 is within the forward portion 148 of the
levitation generator 106. The levitation generator 106 can have an
upper and lower electromagnet zone 154 within the forward portion
148 and similarly include an upper and lower electromagnet zone 154
in the aft portion 150 of the levitation generator.
As can be appreciated in FIGS. 5 and 6, the levitation generator
106 has five electromagnetic coils 146 in each of the upper and
lower portion of the forward portion 148 and of the aft portion
150, each coil having a north pole and a south pole. The permanent
magnet zone 152 has six permanent magnetic elements 156 in each of
the upper portion and lower portion of the forward portion 148 and
six permanent magnetic elements 156 in each of the upper portion
and lower portion of the aft portion 150. The levitation generator
106 is substantially level, but energizing an electromagnet zone
154 can cause the levitation generator 106 to pitch about the axle
128 within the guideway 104.
FIG. 7 illustrates a slidable levitation generator according to an
exemplary embodiment. The levitation generator 106 increases and
decreases the pitch to adjust the levitating magnetic flux as it
approaches and passes through a junction 112. The levitation
generator 106 can adjust pitch by sliding the axle forward or aft
altering the result normal force. The levitation generator 106 is
balanced at the center point about the axle 128. In at least one
embodiment, a servo motor and/or linkage (shown in FIGS. 1 and
9-11) can slide the axle aft of center point increasing the pitch
by .alpha.. The torque acting upon the levitation generator 106 is
the levitation force in a steady state F.sub.N multiplied by the
distance the axle is moved from the center X. In other embodiments,
a servo motor and/or linkage (shown in FIGS. 1 and 9-11) can slide
the levitation generator 106 forward or aft relative to the axle
128, thereby creating an unbalanced levitation flux changing the
pitch of the levitation generator.
As can be appreciated in FIG. 7, the axle 128 is shifted distance X
aft of the center causing the levitation generator 106 to pitch
upward by .alpha.. In order to illustrate the calculation, the
F.sub.N is one hundred (100) kg and the axle is shifted one (1) cm
the resulting torque acting upon the levitation generator is one
(1) kgm. The resulting torque increases the pitch of the levitation
generator 106. In other embodiments, the axle can be shifted
forward of the center point decreasing the pitch of the levitation
generator 106. The example is only an example and the values
illustrated are only for ease of understanding. Different values
can be used to perform the calculation. The values are dependent
upon the system.
FIG. 8 illustrates a top down diagrammatic view of a levitation
generator according to an exemplary embodiment. The levitation
generator 106 includes a plurality of magnetic elements 110
arranged along the length of the levitation generator 106. One or
more of the magnetic elements 110 can be pivotable magnetic
elements 158 coupled to the levitation generator 106. The pivoting
of a magnetic element 158 alters the levitation flux generated by
the levitation generator 106 interacting with the corresponding
lifting member 108 causing the levitation generator 106 to rotate
about the axle 128.
The pivotable magnetic element 158 adjusts the magnetic flux
generated on either side of the axle 128 causing the levitation
generator 106 to pitch. Pivoting the magnetic element 158 at the
trailing end causes the levitation generator 106 to have a higher
generated magnetic flux on the leading end, thus the levitation
generator 106 pitches up (inclines). Pivoting a magnetic element
158 at the leading end causes the levitation generator 106 to have
a higher generated magnetic flux on the trailing end, thus the
levitation generator 106 pitches down (declines). The levitation
generator 106 can pivot the one or more pivotable magnetic elements
158 in response to feedback from the upper edge sensor 124, the
lower edge sensor 126, the VPS 132, and the processor of the
transport apparatus 100.
As can be appreciated in FIG. 8, the levitation generator 106 is
coupled by an axle 128 disposed at substantially the center point
of the levitation generator 106. The levitation generator 106 has a
plurality of magnetic elements 110 with one or more of the magnetic
elements 110 being pivotably coupled to the levitation generator.
The levitation generator 106 can further have a magnetically
permeable back plate 160 upon which the magnetic element 110 can be
disposed. The magnetically permeable back plate 160 is also
pivotably attached to the pivotable magnetic elements 158. The
magnetically permeable back plate 160 can be iron, ferritic
stainless steel, carbon steel, or any other magnetically permeable
material. The trailing magnetic element 110 of the levitation
generator 106 is the pivotable magnetic element 158 and transitions
away from the corresponding lifting member 108, thereby increasing
the pitch of the levitation generator 106. The leading element can
also be pivotably coupled to transition away from the corresponding
lifting member 108, thereby decreasing the pitch of the levitation
generator 106. The pivotable magnetic element 158 can be controlled
by the processor or microprocessor of the transport apparatus 100
in response to upper edge sensor 124, lower edge sensor 126, VPS
132, or other sensors disposed on the levitation generator 106 or
corresponding lifting member 108. In other embodiments, more than
one pivotable magnetic element 158, such as two, three or more, can
be implemented to provide additional changes in pitch.
FIG. 9 illustrates a top down diagrammatic view of a levitation
generator. The transport apparatus 100 can require adjustment in
both pitch and yaw. Pitch adjusts the incline or decline of the
levitation generator 106 relative to the direction of travel 114,
while yaw adjusts the twisting of the levitation generator 106
about an axis perpendicular to the direction of travel 114.
Adjusting yaw changes the direction of travel within a horizontal
plane while pitch adjusts direction of travel within a vertical
plane.
The yaw of the levitation generator 106 is adjustable by altering
the gap 166 between the one or more magnetic elements 110 and the
corresponding lifting member 108. The levitation generator 106 is
pivotably coupled with the axle 128. The levitation generator can
also be coupled with a servo motor 162 and a linkage 164. The servo
motor 162 and linkage 164 can pivot the levitation generator 106
relative to the corresponding lifting member 108. As the servo 162
actuates the levitation generator 106 pivots and the gap 166
between the levitation generator 106 and the corresponding lifting
member 108 changes, thus the levitating magnetic flux changes.
As the gap 166 changes, the resulting moment acts to increase or
decrease the pitch of the levitation generator 106 depending on the
direction of yaw. A smaller gap 166 at the leading edge of the
levitation generator 106 increases pitch, while a larger gap 166 at
the leading edge of the levitation generator decreases pitch.
Similarly, a smaller gap 166 at the trailing edge of the levitation
generator 106 decreases pitch, while a larger gap 166 at the
trailing edge of the levitation generator increases pitch.
As can be appreciated in FIG. 9, the servo motor 162 and linkage
164 are coupled with the leading end of the levitation generator
106. The gap 166 is consistent relative to the corresponding
lifting member 108. The dashed levitation generator 106 illustrates
an induced yaw. The servo motor 162 actuates moving the leading end
closer to the lifting member 108 shrinking the gap 166 between the
levitation generator 106 and the lifting member 108, thus inducing
an increase in pitch. In other embodiments, the servo motor 162 and
linkage 164 can be coupled at the trailing edge of the levitation
generator 106, or at any point along the length of the levitation
generator 106 to adjust pitch.
FIG. 10 illustrates a diagrammatic view of a levitation generator
according to the present disclosure. The levitation generator 106
can be coupled with a servo motor 262 and linkage 264 to adjust
pitch. The servo motor 262 and linkage 264 pivot the levitation
generator 106 directly adjusting the pitch. As can be appreciated
in FIG. 10, the servo motor 262 is coupled with the leading edge of
the levitation generator 106. The levitation generator 106 is
pitched up relative to the direction of travel 114. The leading
edge of the levitation generator can be pitched up toward the upper
lifting member 109 and pitched down toward the lower lifting member
111. In other embodiments, the servo motor 262 and the linkage 264
can be coupled with any point along the levitation generator.
Coupling with the leading or trailing end can maximize the pitch
range for the levitation generator 106. In other embodiments, the
servo motor 262 and linkage 264 can be coupled at the trailing edge
of the levitation generator 106, or at any point along the length
of the levitation generator 106 to adjust the gap 166.
FIG. 11 illustrates a top down view of a levitation generator 106
having a single trim tab according to the present disclosure. The
levitation generator 106 includes a trim tab 167 coupled to the
levitation generator 106 by a lightweight servo motor 262. The
levitation generator 106 is pivotable about a center point 129. The
servo motor 262 can adjust the yaw of the trim tab 167 out of
alignment with the direction of travel 114. A reactionary force
causes pitching of the levitation generator 106 by rotating the
levitation generator 106 about the center point 129, such that the
trim tab 167 returns to alignment within the direction of travel
114. The pitch angle .alpha..sub.LG of the levitation generator 106
is increased (or decreased) to pitch angle .alpha.' by pitching the
trim tab by .alpha..sub.TT relative to the levitation generator
106. The angle between the direction of travel 114 and the trim tab
167 upon return to alignment is .beta.. When the trim tab 167 is
aligned with the direction of travel 114, the levitation generator
106 is in a pitch moment balance.
The implementation as described in relation to FIG. 11 allows for a
lighter weight servo motor 362 and as the servo motor 362 only
needs to adjust the trim tab 167. The implementation is also
self-stabilizing. In at least one embodiment the trim tab 167 is a
mini levitation generator, or mini levitation wing.
FIG. 12 illustrates a diagrammatic view of a levitation generator
according to the present disclosure. The levitation generator 106
can have two trim tabs 168 coupled with a servo motor 362 and
linkage 364 to adjust pitch. During travel in the direction of
travel 114 and with zero pitch, the trim tabs remain substantially
parallel to the levitation generator 106. The trim tabs 168 can
pivot toward and away from the upper rail 116 and lower rail 118
(shown in FIG. 3) to adjust pitch. Pivoting of the trim tabs 168
toward or away from the corresponding lifting member causes the
levitation generator to pivot about the axle 128. The trim tabs 168
pivoted toward the upper lifting member 109 increases pitch of the
levitation generator 106, while the trim tabs 168 pivoted toward
the lower lifting member 111 decreases pitch of the levitation
generator 106.
As can be appreciated in FIG. 12, the trim tabs 168 are disposed at
the trailing edge of the levitation generator 106 and pivoted
upward toward the upper rail 116 causing the levitation generator
106 to pitch up. In other embodiments, the levitation generator 106
can include one trim tab 168, two trim tabs 168, or any number of
trim tabs 168 disposed at either the leading end or training end to
adjust pitch within the corresponding lifting member 108.
In other embodiments, the levitation generator 106 can include a
trim tab 168 coupled to the levitation generator 106 by a servo
motor 362. The servo motor 362 can pitch the trim tab out of
alignment with the direction of travel 114. A reactionary force
pitches the levitation generator 106 such that the trim tab 168
returns to alignment with the direction of travel 114.
FIG. 13 illustrates a flexible levitation generator 106 according
to the present disclosure. The levitation generator 106 is coupled
with two servo motors 462, 463 and two linkages 464, 465 disposed
on either side of the axle. The linkages 464, 465 couple the servo
motors 462, 463 with the leading end and trailing ends of the
levitation generator 106. The servo motors 462, 463 deflect the
ends of the levitation generator 106 maintaining a constant gap 166
between the levitation generator 106 and the corresponding lifting
member. Maintaining a constant gap 166 regulates the levitating
magnetic flux and allows for active control of the levitation
generator 106.
As can be appreciated in FIG. 13, the levitation generator 106
includes protrusion 170 coupling the levitation generator 106 with
the servo motors 362, 363. The servo motors 362, 363 are disposed
on the axle substantially in line with the protrusions 170. In
other embodiments the servo motors 362, 363 can be disposed on the
axle away from the levitation generator creating an angled linkage
relative to the levitation generator 106.
FIG. 14 illustrates a levitation generator according to the present
disclosure. The levitation generator 106 can have two segments
1061, 1062 pivotably coupled at the axle 128. The segments 1061,
1062 can be coupled with the axle 128 by servo motors 462, 463 and
linkages 464, 465. The servo motors 462, 463 and each segment 1061,
1602 of the levitation generator 106 relative to the corresponding
lifting member 108.
FIG. 15 illustrates an axle coupling according to the present
disclosure. The axle coupling 172 couples the levitation generator
106 with the axle 128. The axle coupling 172 allows the levitation
generator 106 pitch up, pitch down, to yaw left, and to yaw
right.
FIG. 16 illustrates a flowchart of a method of using a transport
apparatus. Referring to FIG. 16, a flowchart is presented in
accordance with an example embodiment. The example method 1600 is
provided by way of example, as there are a variety of ways to carry
out the method. The method 1600 described below can be carried out
using the configurations illustrated in FIGS. 1-15, for example,
and various elements of these figures are referenced in explaining
example method 1600. Each block shown in FIG. 16 represents one or
more processes, methods or subroutines, carried out in the example
method 1600. Furthermore, the illustrated order of blocks is
illustrative only and the order of the blocks can change according
to the present disclosure. Additional blocks may be added or fewer
blocks may be utilized, without departing from this disclosure. The
example method 1600 can begin at block 1601.
At block 1601, a transport apparatus 100 can move along a guideway
104 by a drive generator 102 generating a drive magnetic flux. In
at least one embodiment, the drive generator 102 is helical and
rotating within a corresponding drive member.
At block 1602, the drive magnetic flux causes travel along the
guideway 104 causing a levitation generator 106 to move within a
corresponding lifting member 108, thereby generating a levitation
magnetic flux. The levitation magnetic flux varies with velocity of
the transport apparatus 100 along the guideway 104.
At block 1603, the transport apparatus 100 adjusts the orientation
of the levitation generator 106 within the corresponding lifting
member 108. The orientation, including pitch, yaw, and/or roll,
varies the levitating magnetic flux.
At block 1604, the transport apparatus 100 approaches a junction
112 and the orientation of the levitation generator 106 causes the
transport apparatus 100 to enter one of the upper lifting member
109 or the lower lifting member 111.
It is believed the exemplary embodiment and its advantages will be
understood from the foregoing description, and it will be apparent
that various changes may be made thereto without departing from the
spirit and scope of the disclosure or sacrificing all of its
advantages, the examples hereinbefore described merely being
preferred or exemplary embodiments of the disclosure.
* * * * *